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<h1>stepper.c</h1><a href="stepper_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"> Copyright 2006 MakingThings</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Licensed under the Apache License, </span>
<a name="l00006"></a>00006 <span class="comment"> Version 2.0 (the "License"); you may not use this file except in compliance </span>
<a name="l00007"></a>00007 <span class="comment"> with the License. You may obtain a copy of the License at</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> http://www.apache.org/licenses/LICENSE-2.0 </span>
<a name="l00010"></a>00010 <span class="comment"> </span>
<a name="l00011"></a>00011 <span class="comment"> Unless required by applicable law or agreed to in writing, software distributed</span>
<a name="l00012"></a>00012 <span class="comment"> under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR</span>
<a name="l00013"></a>00013 <span class="comment"> CONDITIONS OF ANY KIND, either express or implied. See the License for</span>
<a name="l00014"></a>00014 <span class="comment"> the specific language governing permissions and limitations under the License.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">*********************************************************************************/</span>
<a name="l00017"></a>00017 
<a name="l00018"></a>00018 <span class="comment">// MakingThings - Make Controller Board - 2006</span>
<a name="l00019"></a>00019 <span class="comment"></span>
<a name="l00020"></a>00020 <span class="comment">/** \file stepper.c </span>
<a name="l00021"></a>00021 <span class="comment">  Stepper Motor Controls.</span>
<a name="l00022"></a>00022 <span class="comment">  Methods for controlling up to 2 stepper motors with the Make Application Board.</span>
<a name="l00023"></a>00023 <span class="comment">*/</span>
<a name="l00024"></a>00024 
<a name="l00025"></a>00025 <span class="preprocessor">#include "stepper.h"</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "io.h"</span>
<a name="l00027"></a>00027 <span class="preprocessor">#include "fasttimer.h"</span>
<a name="l00028"></a>00028 <span class="preprocessor">#include "config.h"</span>
<a name="l00029"></a>00029 
<a name="l00030"></a>00030 <span class="preprocessor">#include "AT91SAM7X256.h"</span>
<a name="l00031"></a>00031 
<a name="l00032"></a>00032 <span class="preprocessor">#if ( APPBOARD_VERSION == 50 )</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_0_IO_0 IO_PA02</span>
<a name="l00034"></a>00034 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_0_IO_1 IO_PA02</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_0_IO_2 IO_PA02</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_0_IO_3 IO_PA02</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_1_IO_0 IO_PA02</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_1_IO_1 IO_PA02</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_1_IO_2 IO_PA02</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_1_IO_3 IO_PA02</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#if ( APPBOARD_VERSION == 90 || APPBOARD_VERSION == 95 || APPBOARD_VERSION == 100 )</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_0_IO_0 IO_PA24</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_0_IO_1 IO_PA05</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_0_IO_2 IO_PA06</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_0_IO_3 IO_PA02</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_1_IO_0 IO_PB25</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_1_IO_1 IO_PA25</span>
<a name="l00049"></a>00049 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_1_IO_2 IO_PA26</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">  #define STEPPER_1_IO_3 IO_PB23</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span>
<a name="l00053"></a>00053 <span class="preprocessor">#define STEPPER_COUNT 2</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span>
<a name="l00055"></a>00055 <span class="keyword">typedef</span> <span class="keyword">struct </span>StepperControlS
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057   <span class="keywordtype">int</span> users;
<a name="l00058"></a>00058   <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> bipolar : 1;
<a name="l00059"></a>00059   <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> halfStep : 1;
<a name="l00060"></a>00060   <span class="keywordtype">int</span> speed;
<a name="l00061"></a>00061   <span class="keywordtype">int</span> duty;
<a name="l00062"></a>00062   <span class="keywordtype">int</span> acceleration;
<a name="l00063"></a>00063   <span class="keywordtype">int</span> positionRequested;
<a name="l00064"></a>00064   <span class="keywordtype">int</span> position;
<a name="l00065"></a>00065   <span class="keywordtype">int</span> io[ 4 ];  
<a name="l00066"></a>00066   <span class="keywordtype">unsigned</span> timerRunning : 1;
<a name="l00067"></a>00067   FastTimerEntry fastTimerEntry;
<a name="l00068"></a>00068 } StepperControl;
<a name="l00069"></a>00069 
<a name="l00070"></a>00070 <span class="keyword">typedef</span> <span class="keyword">struct </span>StepperS
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072   <span class="keywordtype">int</span> users;
<a name="l00073"></a>00073   StepperControl* control[ STEPPER_COUNT ];
<a name="l00074"></a>00074 } Stepper_;
<a name="l00075"></a>00075 
<a name="l00076"></a>00076 <span class="keywordtype">void</span> Stepper_IRQCallback( <span class="keywordtype">int</span> <span class="keywordtype">id</span> );
<a name="l00077"></a>00077 
<a name="l00078"></a>00078 <span class="keyword">static</span> <span class="keywordtype">int</span> Stepper_Start( <span class="keywordtype">int</span> index );
<a name="l00079"></a>00079 <span class="keyword">static</span> <span class="keywordtype">int</span> Stepper_Stop( <span class="keywordtype">int</span> index );
<a name="l00080"></a>00080 <span class="keyword">static</span> <span class="keywordtype">int</span> Stepper_Init( <span class="keywordtype">void</span> );
<a name="l00081"></a>00081 <span class="keyword">static</span> <span class="keywordtype">int</span> Stepper_GetIo( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> io );
<a name="l00082"></a>00082 <span class="keyword">static</span> <span class="keywordtype">void</span> Stepper_SetDetails( StepperControl* s );
<a name="l00083"></a>00083 <span class="keyword">static</span> <span class="keywordtype">void</span> Stepper_SetUnipolarHalfStepOutput( StepperControl *s, <span class="keywordtype">int</span> position );
<a name="l00084"></a>00084 <span class="keyword">static</span> <span class="keywordtype">void</span> Stepper_SetUnipolarOutput( StepperControl *s, <span class="keywordtype">int</span> position );
<a name="l00085"></a>00085 <span class="keyword">static</span> <span class="keywordtype">void</span> Stepper_SetBipolarOutput( StepperControl *s, <span class="keywordtype">int</span> position );
<a name="l00086"></a>00086 <span class="keyword">static</span> <span class="keywordtype">void</span> Stepper_SetBipolarHalfStepOutput( StepperControl *s, <span class="keywordtype">int</span> position );
<a name="l00087"></a>00087 
<a name="l00088"></a>00088 <span class="keywordtype">void</span> Stepper_SetOn( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span>* portAOn, <span class="keywordtype">int</span>* portBOn );
<a name="l00089"></a>00089 <span class="keywordtype">void</span> Stepper_SetOff( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span>* portAOff, <span class="keywordtype">int</span>* portBOff );
<a name="l00090"></a>00090 <span class="keywordtype">void</span> Stepper_SetAll( <span class="keywordtype">int</span> portAOn, <span class="keywordtype">int</span> portBOn, <span class="keywordtype">int</span> portAOff, <span class="keywordtype">int</span> portBOff );
<a name="l00091"></a>00091 
<a name="l00092"></a>00092 Stepper_* Stepper;
<a name="l00093"></a>00093 <span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment">/** \defgroup Stepper</span>
<a name="l00095"></a>00095 <span class="comment">  The Stepper Motor subsystem provides speed and position control for one or two stepper motors.</span>
<a name="l00096"></a>00096 <span class="comment">  Up to 2 stepper motors can be controlled with the Make Application Board.</span>
<a name="l00097"></a>00097 <span class="comment">  Specify settings for your stepper motor by setting whether it's:</span>
<a name="l00098"></a>00098 <span class="comment">  - bipolar or unipolar</span>
<a name="l00099"></a>00099 <span class="comment">  - normal of half-stepping</span>
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment">  You can generally use the stepper motor in 2 modes - \b absolute positioning or \b relative positioning.</span>
<a name="l00102"></a>00102 <span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment">  For absolute positioning, call Stepper_SetPositionRequested() with the desired position, and the motor will move there.</span>
<a name="l00104"></a>00104 <span class="comment">  You can read back the stepper's position at any point along the way to determine where it is at a given moment.  The board</span>
<a name="l00105"></a>00105 <span class="comment">  keeps an internal count of how many steps the motor has taken in order to keep track of where it is.</span>
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment">  For relative positioning, use Stepper_Step( ) to simply move a number of steps from the current position.</span>
<a name="l00108"></a>00108 <span class="comment">* \ingroup AppBoard</span>
<a name="l00109"></a>00109 <span class="comment">* @{</span>
<a name="l00110"></a>00110 <span class="comment">*/</span>
<a name="l00111"></a>00111 <span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment">/**</span>
<a name="l00113"></a>00113 <span class="comment">  Attempt to set the specified </span>
<a name="l00114"></a>00114 <span class="comment">  Sets whether the specified Stepper is active.</span>
<a name="l00115"></a>00115 <span class="comment">  @param index An integer specifying which stepper (0 or 1).</span>
<a name="l00116"></a>00116 <span class="comment">  @param state An integer specifying the active state - 1 (active) or 0 (inactive).</span>
<a name="l00117"></a>00117 <span class="comment">  @return Zero on success.</span>
<a name="l00118"></a>00118 <span class="comment">*/</span>
<a name="l00119"></a><a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536">00119</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> state )
<a name="l00120"></a>00120 {
<a name="l00121"></a>00121   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00122"></a>00122     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00123"></a>00123 
<a name="l00124"></a>00124   <span class="keywordflow">if</span> ( state )
<a name="l00125"></a>00125   {
<a name="l00126"></a>00126     <span class="keywordflow">if</span>( Stepper == NULL ) <span class="comment">// if our subsystem has not been fired up</span>
<a name="l00127"></a>00127     {
<a name="l00128"></a>00128       <span class="keywordtype">int</span> retVal = Stepper_Init( );
<a name="l00129"></a>00129       <span class="keywordflow">if</span>( retVal != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00130"></a>00130         <span class="keywordflow">return</span> retVal;
<a name="l00131"></a>00131     }
<a name="l00132"></a>00132 
<a name="l00133"></a>00133     <span class="keywordflow">if</span>( Stepper-&gt;control[ index ] == NULL ) <span class="comment">// if this particular stepper has not been fired up</span>
<a name="l00134"></a>00134     {
<a name="l00135"></a>00135       Stepper-&gt;control[ index ] = <a class="code" href="group___utils.html#g95923aa748602fa0330903fca05ca892" title="Same as Malloc, but keeps trying until it succeeds.">MallocWait</a>( <span class="keyword">sizeof</span>( StepperControl ), 100 );
<a name="l00136"></a>00136       Stepper-&gt;control[ index ]-&gt;users = 0;
<a name="l00137"></a>00137       <span class="keywordflow">if</span>( Stepper_Start( index ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00138"></a>00138         <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00139"></a>00139     }
<a name="l00140"></a>00140 
<a name="l00141"></a>00141     <span class="keywordflow">if</span>( Stepper-&gt;control[ index ] != NULL )
<a name="l00142"></a>00142       <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00143"></a>00143     <span class="keywordflow">else</span>
<a name="l00144"></a>00144       <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00145"></a>00145   }
<a name="l00146"></a>00146   <span class="keywordflow">else</span>
<a name="l00147"></a>00147     <span class="keywordflow">return</span> Stepper_Stop( index );
<a name="l00148"></a>00148 }
<a name="l00149"></a>00149 <span class="comment"></span>
<a name="l00150"></a>00150 <span class="comment">/**</span>
<a name="l00151"></a>00151 <span class="comment">  Check whether the stepper is active or not</span>
<a name="l00152"></a>00152 <span class="comment">  @param index An integer specifying which stepper (0-1).</span>
<a name="l00153"></a>00153 <span class="comment">  @return State - 1 (active) or 0 (inactive).</span>
<a name="l00154"></a>00154 <span class="comment">*/</span>
<a name="l00155"></a><a class="code" href="group___stepper.html#ga65f212117be231d54ff67cb00911e3d">00155</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#ga65f212117be231d54ff67cb00911e3d" title="Check whether the stepper is active or not.">Stepper_GetActive</a>( <span class="keywordtype">int</span> index )
<a name="l00156"></a>00156 {
<a name="l00157"></a>00157   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00158"></a>00158     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00159"></a>00159 
<a name="l00160"></a>00160   <span class="keywordflow">if</span>( Stepper == NULL )
<a name="l00161"></a>00161     <span class="keywordflow">return</span> 0;
<a name="l00162"></a>00162   <span class="keywordflow">else</span>
<a name="l00163"></a>00163     <span class="keywordflow">return</span> Stepper-&gt;control[ index ] != NULL;
<a name="l00164"></a>00164 }
<a name="l00165"></a>00165 <span class="comment"></span>
<a name="l00166"></a>00166 <span class="comment">/** </span>
<a name="l00167"></a>00167 <span class="comment">  Set the position of the specified stepper motor.</span>
<a name="l00168"></a>00168 <span class="comment">  @param index An integer specifying which stepper (0 or 1).</span>
<a name="l00169"></a>00169 <span class="comment">  @param position An integer specifying the stepper position.</span>
<a name="l00170"></a>00170 <span class="comment">  @return status (0 = OK).</span>
<a name="l00171"></a>00171 <span class="comment">*/</span>
<a name="l00172"></a><a class="code" href="group___stepper.html#g83dbabc60bf20269330dddda711afe4e">00172</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#g83dbabc60bf20269330dddda711afe4e" title="Set the position of the specified stepper motor.">Stepper_SetPosition</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> position )
<a name="l00173"></a>00173 {
<a name="l00174"></a>00174   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00175"></a>00175     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00176"></a>00176 
<a name="l00177"></a>00177   <span class="keywordflow">if</span> ( <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, 1 ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00178"></a>00178     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00179"></a>00179 
<a name="l00180"></a>00180   StepperControl* s = Stepper-&gt;control[ index ]; 
<a name="l00181"></a>00181   
<a name="l00182"></a>00182   DisableFIQFromThumb();
<a name="l00183"></a>00183   s-&gt;position = position;
<a name="l00184"></a>00184   s-&gt;positionRequested = position;
<a name="l00185"></a>00185   EnableFIQFromThumb();
<a name="l00186"></a>00186 
<a name="l00187"></a>00187   Stepper_SetDetails( s );
<a name="l00188"></a>00188 
<a name="l00189"></a>00189   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191 <span class="comment"></span>
<a name="l00192"></a>00192 <span class="comment">/** </span>
<a name="l00193"></a>00193 <span class="comment">  Set the destination position for a stepper motor.</span>
<a name="l00194"></a>00194 <span class="comment">  @param index An integer specifying which stepper (0 or 1).</span>
<a name="l00195"></a>00195 <span class="comment">  @param positionRequested An integer specifying the desired stepper position.</span>
<a name="l00196"></a>00196 <span class="comment">  @return status (0 = OK).</span>
<a name="l00197"></a>00197 <span class="comment">*/</span>
<a name="l00198"></a><a class="code" href="group___stepper.html#g3172137d4ac0546433c2e85d2b4ead68">00198</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#g3172137d4ac0546433c2e85d2b4ead68" title="Set the destination position for a stepper motor.">Stepper_SetPositionRequested</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> positionRequested )
<a name="l00199"></a>00199 {
<a name="l00200"></a>00200   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00201"></a>00201     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00202"></a>00202 
<a name="l00203"></a>00203   <span class="keywordflow">if</span> ( <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, 1 ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00204"></a>00204     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00205"></a>00205 
<a name="l00206"></a>00206   StepperControl* s = Stepper-&gt;control[ index ]; 
<a name="l00207"></a>00207   DisableFIQFromThumb();
<a name="l00208"></a>00208   s-&gt;positionRequested = positionRequested;
<a name="l00209"></a>00209   EnableFIQFromThumb();
<a name="l00210"></a>00210 
<a name="l00211"></a>00211   Stepper_SetDetails( s );
<a name="l00212"></a>00212 
<a name="l00213"></a>00213   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00214"></a>00214 }
<a name="l00215"></a>00215 <span class="comment"></span>
<a name="l00216"></a>00216 <span class="comment">/** </span>
<a name="l00217"></a>00217 <span class="comment">  Set the speed at which a stepper will move.</span>
<a name="l00218"></a>00218 <span class="comment">  This is a number of ms per step,</span>
<a name="l00219"></a>00219 <span class="comment">  rather than the more common steps per second.  Arranging it this way makes </span>
<a name="l00220"></a>00220 <span class="comment">  it easier to express as an integer.  Fastest speed is 1ms / step (1000 steps</span>
<a name="l00221"></a>00221 <span class="comment">  per second) and slowest is many seconds.</span>
<a name="l00222"></a>00222 <span class="comment">  @param index An integer specifying which stepper (0 or 1).</span>
<a name="l00223"></a>00223 <span class="comment">  @param speed An integer specifying the stepper speed in ms per step</span>
<a name="l00224"></a>00224 <span class="comment">  @return status (0 = OK).</span>
<a name="l00225"></a>00225 <span class="comment">*/</span>
<a name="l00226"></a><a class="code" href="group___stepper.html#g891becfba02cc46ee2271ac31a1562ab">00226</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#g891becfba02cc46ee2271ac31a1562ab" title="Set the speed at which a stepper will move.">Stepper_SetSpeed</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> speed )
<a name="l00227"></a>00227 {
<a name="l00228"></a>00228   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00229"></a>00229     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00230"></a>00230 
<a name="l00231"></a>00231   <span class="keywordflow">if</span> ( <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, 1 ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00232"></a>00232     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00233"></a>00233   
<a name="l00234"></a>00234   StepperControl* s = Stepper-&gt;control[ index ]; 
<a name="l00235"></a>00235 
<a name="l00236"></a>00236   s-&gt;speed = speed * 1000;
<a name="l00237"></a>00237 
<a name="l00238"></a>00238   DisableFIQFromThumb();
<a name="l00239"></a>00239   <a class="code" href="group___fast_timer.html#g2db79bbca7af495bf61ebad8abdeb806" title="Change the requeted time of an entry.">FastTimer_SetTime</a>( &amp;s-&gt;fastTimerEntry, s-&gt;speed );
<a name="l00240"></a>00240   EnableFIQFromThumb();
<a name="l00241"></a>00241 
<a name="l00242"></a>00242   Stepper_SetDetails( s );
<a name="l00243"></a>00243 
<a name="l00244"></a>00244   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00245"></a>00245 }
<a name="l00246"></a>00246 <span class="comment"></span>
<a name="l00247"></a>00247 <span class="comment">/** </span>
<a name="l00248"></a>00248 <span class="comment">  Get the speed at which a stepper will move.</span>
<a name="l00249"></a>00249 <span class="comment">  Read the value previously set for the speed parameter.</span>
<a name="l00250"></a>00250 <span class="comment">  @param index An integer specifying which stepper (0 or 1).</span>
<a name="l00251"></a>00251 <span class="comment">  @return The speed (0 - 1023), or 0 on error.</span>
<a name="l00252"></a>00252 <span class="comment">*/</span>
<a name="l00253"></a><a class="code" href="group___stepper.html#g174186367248f68a9a33228625577cf5">00253</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#g174186367248f68a9a33228625577cf5" title="Get the speed at which a stepper will move.">Stepper_GetSpeed</a>( <span class="keywordtype">int</span> index )
<a name="l00254"></a>00254 {
<a name="l00255"></a>00255   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00256"></a>00256     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00257"></a>00257 
<a name="l00258"></a>00258   <span class="keywordflow">if</span> ( <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, 1 ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00259"></a>00259     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00260"></a>00260 
<a name="l00261"></a>00261   <span class="keywordflow">return</span> Stepper-&gt;control[ index ]-&gt;speed;
<a name="l00262"></a>00262 }
<a name="l00263"></a>00263 <span class="comment"></span>
<a name="l00264"></a>00264 <span class="comment">/** </span>
<a name="l00265"></a>00265 <span class="comment">  Read the current position of a stepper motor.</span>
<a name="l00266"></a>00266 <span class="comment">  @param index An integer specifying which stepper (0 - 3).</span>
<a name="l00267"></a>00267 <span class="comment">  @return The position, 0 on error.</span>
<a name="l00268"></a>00268 <span class="comment">*/</span>
<a name="l00269"></a><a class="code" href="group___stepper.html#gd041059f1c047e9487ec1184f4f00d84">00269</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#gd041059f1c047e9487ec1184f4f00d84" title="Read the current position of a stepper motor.">Stepper_GetPosition</a>( <span class="keywordtype">int</span> index )
<a name="l00270"></a>00270 {
<a name="l00271"></a>00271   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00272"></a>00272     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00273"></a>00273 
<a name="l00274"></a>00274   <span class="keywordflow">if</span> ( <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, 1 ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00275"></a>00275     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00276"></a>00276 
<a name="l00277"></a>00277   <span class="keywordflow">return</span> Stepper-&gt;control[ index ]-&gt;position;
<a name="l00278"></a>00278 }
<a name="l00279"></a>00279 <span class="comment"></span>
<a name="l00280"></a>00280 <span class="comment">/** </span>
<a name="l00281"></a>00281 <span class="comment">  Read the destination position of a stepper motor.</span>
<a name="l00282"></a>00282 <span class="comment">  @param index An integer specifying which stepper (0 or 1).</span>
<a name="l00283"></a>00283 <span class="comment">  @return The position and 0 on error</span>
<a name="l00284"></a>00284 <span class="comment">*/</span>
<a name="l00285"></a><a class="code" href="group___stepper.html#gf150638da28e7c58bc09c0cf1b6f3791">00285</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#gf150638da28e7c58bc09c0cf1b6f3791" title="Read the destination position of a stepper motor.">Stepper_GetPositionRequested</a>( <span class="keywordtype">int</span> index )
<a name="l00286"></a>00286 {
<a name="l00287"></a>00287   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00288"></a>00288     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00289"></a>00289 
<a name="l00290"></a>00290   <span class="keywordflow">if</span> ( <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, 1 ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00291"></a>00291     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00292"></a>00292 
<a name="l00293"></a>00293   <span class="keywordflow">return</span> Stepper-&gt;control[ index ]-&gt;positionRequested;
<a name="l00294"></a>00294 }
<a name="l00295"></a>00295 <span class="comment"></span>
<a name="l00296"></a>00296 <span class="comment">/** </span>
<a name="l00297"></a>00297 <span class="comment">  Simply take a number of steps from wherever the motor is currently positioned.</span>
<a name="l00298"></a>00298 <span class="comment">  This function will move the motor a given number of steps from the current position.</span>
<a name="l00299"></a>00299 <span class="comment">  @param index An integer specifying which stepper (0 or 1).</span>
<a name="l00300"></a>00300 <span class="comment">  @param steps An integer specifying the number of steps.  Can be negative to go in reverse.</span>
<a name="l00301"></a>00301 <span class="comment">  @return status (0 = OK).</span>
<a name="l00302"></a>00302 <span class="comment">*/</span>
<a name="l00303"></a><a class="code" href="group___stepper.html#gb212bd8775ecb72a0d56163fdf613928">00303</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#gb212bd8775ecb72a0d56163fdf613928" title="Simply take a number of steps from wherever the motor is currently positioned.">Stepper_Step</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> steps )
<a name="l00304"></a>00304 {
<a name="l00305"></a>00305   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00306"></a>00306     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00307"></a>00307 
<a name="l00308"></a>00308   <span class="keywordflow">if</span> ( <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, 1 ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00309"></a>00309     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00310"></a>00310 
<a name="l00311"></a>00311   StepperControl* s = Stepper-&gt;control[ index ]; 
<a name="l00312"></a>00312   DisableFIQFromThumb();
<a name="l00313"></a>00313   s-&gt;positionRequested = (s-&gt;position + steps);
<a name="l00314"></a>00314   EnableFIQFromThumb();
<a name="l00315"></a>00315 
<a name="l00316"></a>00316   Stepper_SetDetails( s );
<a name="l00317"></a>00317   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00318"></a>00318 }
<a name="l00319"></a>00319 <span class="comment"></span>
<a name="l00320"></a>00320 <span class="comment">/** </span>
<a name="l00321"></a>00321 <span class="comment">  Not implemented - returns 0.</span>
<a name="l00322"></a>00322 <span class="comment">  @param index An integer specifying which stepper (0 or 1).</span>
<a name="l00323"></a>00323 <span class="comment">*/</span>
<a name="l00324"></a><a class="code" href="group___stepper.html#g2670d5168bc4403656d3bb65c05ddf37">00324</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#g2670d5168bc4403656d3bb65c05ddf37" title="Not implemented - returns 0.">Stepper_GetStep</a>( <span class="keywordtype">int</span> index )
<a name="l00325"></a>00325 {
<a name="l00326"></a>00326   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00327"></a>00327     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00328"></a>00328 
<a name="l00329"></a>00329   <span class="keywordflow">return</span> 0; <span class="comment">// write-only</span>
<a name="l00330"></a>00330 }
<a name="l00331"></a>00331 <span class="comment"></span>
<a name="l00332"></a>00332 <span class="comment">/** </span>
<a name="l00333"></a>00333 <span class="comment">  Set the duty - from 0 to 1023.  The default is for 100% power (1023).</span>
<a name="l00334"></a>00334 <span class="comment">  @param index An integer specifying which stepper (0 or 1).</span>
<a name="l00335"></a>00335 <span class="comment">  @param duty An integer specifying the stepper duty (0 - 1023).</span>
<a name="l00336"></a>00336 <span class="comment">  @return status (0 = OK).</span>
<a name="l00337"></a>00337 <span class="comment">*/</span>
<a name="l00338"></a><a class="code" href="group___stepper.html#g4b8735adfa88cfbf0dc4be5561f8e44f">00338</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#g4b8735adfa88cfbf0dc4be5561f8e44f" title="Set the duty - from 0 to 1023.">Stepper_SetDuty</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> duty )
<a name="l00339"></a>00339 {
<a name="l00340"></a>00340   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00341"></a>00341     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00342"></a>00342 
<a name="l00343"></a>00343   <span class="keywordflow">if</span> ( <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, 1 ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00344"></a>00344     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00345"></a>00345 
<a name="l00346"></a>00346   StepperControl* s = Stepper-&gt;control[ index ]; 
<a name="l00347"></a>00347   s-&gt;duty = duty;
<a name="l00348"></a>00348 
<a name="l00349"></a>00349   <span class="comment">// Fire the PWM's up</span>
<a name="l00350"></a>00350   <span class="keywordtype">int</span> pwm = index * 2;
<a name="l00351"></a>00351   <a class="code" href="group___pwm.html#g87d5172375c765fb58fe9c8e160b9314" title="Set the duty of a PWM device.">Pwm_Set</a>( pwm, duty );
<a name="l00352"></a>00352   <a class="code" href="group___pwm.html#g87d5172375c765fb58fe9c8e160b9314" title="Set the duty of a PWM device.">Pwm_Set</a>( pwm + 1, duty );
<a name="l00353"></a>00353 
<a name="l00354"></a>00354   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00355"></a>00355 }
<a name="l00356"></a>00356 <span class="comment"></span>
<a name="l00357"></a>00357 <span class="comment">/** </span>
<a name="l00358"></a>00358 <span class="comment">  Get the duty </span>
<a name="l00359"></a>00359 <span class="comment">  Read the value previously set for the duty.</span>
<a name="l00360"></a>00360 <span class="comment">  @param index An integer specifying which stepper (0 - 3).</span>
<a name="l00361"></a>00361 <span class="comment">  @return The duty (0 - 1023), or 0 on error.</span>
<a name="l00362"></a>00362 <span class="comment">*/</span>
<a name="l00363"></a><a class="code" href="group___stepper.html#gaf6cb1e49032eed0e16db704ac02396b">00363</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#gaf6cb1e49032eed0e16db704ac02396b" title="Get the duty Read the value previously set for the duty.">Stepper_GetDuty</a>( <span class="keywordtype">int</span> index )
<a name="l00364"></a>00364 {
<a name="l00365"></a>00365   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00366"></a>00366     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00367"></a>00367 
<a name="l00368"></a>00368   <span class="keywordflow">if</span> ( <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, 1 ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00369"></a>00369     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00370"></a>00370 
<a name="l00371"></a>00371   <span class="keywordflow">return</span> Stepper-&gt;control[ index ]-&gt;duty;
<a name="l00372"></a>00372 }
<a name="l00373"></a>00373 <span class="comment"></span>
<a name="l00374"></a>00374 <span class="comment">/** </span>
<a name="l00375"></a>00375 <span class="comment">  Declare whether the stepper is bipolar or not.  Default is bipolar.</span>
<a name="l00376"></a>00376 <span class="comment">  @param index An integer specifying which stepper (0 or 1).</span>
<a name="l00377"></a>00377 <span class="comment">  @param bipolar An integer 1 for bipolar, 0 for unipolar</span>
<a name="l00378"></a>00378 <span class="comment">  @return status (0 = OK).</span>
<a name="l00379"></a>00379 <span class="comment">*/</span>
<a name="l00380"></a><a class="code" href="group___stepper.html#geb71bfe520e3eacd08417313ffd7f71e">00380</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#geb71bfe520e3eacd08417313ffd7f71e" title="Declare whether the stepper is bipolar or not.">Stepper_SetBipolar</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> bipolar )
<a name="l00381"></a>00381 {
<a name="l00382"></a>00382   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00383"></a>00383     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00384"></a>00384 
<a name="l00385"></a>00385   <span class="keywordflow">if</span> ( <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, 1 ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00386"></a>00386     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00387"></a>00387 
<a name="l00388"></a>00388   StepperControl* s = Stepper-&gt;control[ index ]; 
<a name="l00389"></a>00389   s-&gt;bipolar = bipolar;
<a name="l00390"></a>00390 
<a name="l00391"></a>00391   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00392"></a>00392 }
<a name="l00393"></a>00393 <span class="comment"></span>
<a name="l00394"></a>00394 <span class="comment">/** </span>
<a name="l00395"></a>00395 <span class="comment">  Get the bipolar setting</span>
<a name="l00396"></a>00396 <span class="comment">  Read the value previously set for bipolar.</span>
<a name="l00397"></a>00397 <span class="comment">  @param index An integer specifying which stepper (0 - 3).</span>
<a name="l00398"></a>00398 <span class="comment">  @return 1 for bipolar or 0 for unipolar.</span>
<a name="l00399"></a>00399 <span class="comment">*/</span>
<a name="l00400"></a><a class="code" href="group___stepper.html#g43c21812439f70eea1e0cf7fb7f8649c">00400</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#g43c21812439f70eea1e0cf7fb7f8649c" title="Get the bipolar setting Read the value previously set for bipolar.">Stepper_GetBipolar</a>( <span class="keywordtype">int</span> index )
<a name="l00401"></a>00401 {
<a name="l00402"></a>00402   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00403"></a>00403     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00404"></a>00404 
<a name="l00405"></a>00405   <span class="keywordflow">if</span> ( <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, 1 ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00406"></a>00406     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00407"></a>00407 
<a name="l00408"></a>00408   <span class="keywordflow">return</span> Stepper-&gt;control[ index ]-&gt;bipolar;
<a name="l00409"></a>00409 }
<a name="l00410"></a>00410 <span class="comment"></span>
<a name="l00411"></a>00411 <span class="comment">/** </span>
<a name="l00412"></a>00412 <span class="comment">  Declare whether the stepper is in half stepping mode or not.  Default is not - i.e. in full step mode.</span>
<a name="l00413"></a>00413 <span class="comment">  @param index An integer specifying which stepper (0 or 1).</span>
<a name="l00414"></a>00414 <span class="comment">  @param halfStep An integer specifying 1 for half step, 0 for full step</span>
<a name="l00415"></a>00415 <span class="comment">  @return status (0 = OK).</span>
<a name="l00416"></a>00416 <span class="comment">*/</span>
<a name="l00417"></a><a class="code" href="group___stepper.html#g731a93f003fa86a34cbde312dd1193d7">00417</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#g731a93f003fa86a34cbde312dd1193d7" title="Declare whether the stepper is in half stepping mode or not.">Stepper_SetHalfStep</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> halfStep )
<a name="l00418"></a>00418 {
<a name="l00419"></a>00419   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00420"></a>00420     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00421"></a>00421 
<a name="l00422"></a>00422   <span class="keywordflow">if</span> ( <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, 1 ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00423"></a>00423     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00424"></a>00424 
<a name="l00425"></a>00425   StepperControl* s = Stepper-&gt;control[ index ]; 
<a name="l00426"></a>00426   s-&gt;halfStep = halfStep;
<a name="l00427"></a>00427 
<a name="l00428"></a>00428   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00429"></a>00429 }
<a name="l00430"></a>00430 <span class="comment"></span>
<a name="l00431"></a>00431 <span class="comment">/** </span>
<a name="l00432"></a>00432 <span class="comment">  Read whether the stepper is in half stepping mode or not.</span>
<a name="l00433"></a>00433 <span class="comment">  @param index An integer specifying which stepper (0 or 1).</span>
<a name="l00434"></a>00434 <span class="comment">  @return the HalfStep setting.</span>
<a name="l00435"></a>00435 <span class="comment">*/</span>
<a name="l00436"></a><a class="code" href="group___stepper.html#ga5ef21727e1a4bb101aa378c4782e7df">00436</a> <span class="keywordtype">int</span> <a class="code" href="group___stepper.html#ga5ef21727e1a4bb101aa378c4782e7df" title="Read whether the stepper is in half stepping mode or not.">Stepper_GetHalfStep</a>( <span class="keywordtype">int</span> index )
<a name="l00437"></a>00437 {
<a name="l00438"></a>00438   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00439"></a>00439     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00440"></a>00440 
<a name="l00441"></a>00441   <span class="keywordflow">if</span> ( <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, 1 ) != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00442"></a>00442     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gfc2b28a46b3f3dc2842045ee161c0b14" title="The system is not active.">CONTROLLER_ERROR_SYSTEM_NOT_ACTIVE</a>;
<a name="l00443"></a>00443 
<a name="l00444"></a>00444   <span class="keywordflow">return</span> Stepper-&gt;control[ index ]-&gt;halfStep;
<a name="l00445"></a>00445 }
<a name="l00446"></a>00446 
<a name="l00447"></a>00447 <span class="comment"></span>
<a name="l00448"></a>00448 <span class="comment">/** @}</span>
<a name="l00449"></a>00449 <span class="comment">*/</span>
<a name="l00450"></a>00450 
<a name="l00451"></a>00451 <span class="keywordtype">int</span> Stepper_Start( <span class="keywordtype">int</span> index )
<a name="l00452"></a>00452 {
<a name="l00453"></a>00453   <span class="keyword">static</span> <span class="keywordtype">int</span> status; <span class="comment">// why does this not seem to work at -O2 when this is not declared as static?</span>
<a name="l00454"></a>00454 
<a name="l00455"></a>00455   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT )
<a name="l00456"></a>00456     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00457"></a>00457 
<a name="l00458"></a>00458   StepperControl* sc = Stepper-&gt;control[ index ];
<a name="l00459"></a>00459   <span class="keywordflow">if</span> ( sc-&gt;users++ == 0 )
<a name="l00460"></a>00460   {
<a name="l00461"></a>00461     status = Pwm_Start( index * 2 );
<a name="l00462"></a>00462     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00463"></a>00463     {
<a name="l00464"></a>00464       sc-&gt;users--;
<a name="l00465"></a>00465       Stepper-&gt;users--;
<a name="l00466"></a>00466       <span class="keywordflow">return</span> status;
<a name="l00467"></a>00467     }
<a name="l00468"></a>00468 
<a name="l00469"></a>00469     status = Pwm_Start( index * 2 + 1 );
<a name="l00470"></a>00470     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00471"></a>00471     {
<a name="l00472"></a>00472       Pwm_Stop( index * 2 );
<a name="l00473"></a>00473       sc-&gt;users--;
<a name="l00474"></a>00474       Stepper-&gt;users--;
<a name="l00475"></a>00475       <span class="keywordflow">return</span> status;
<a name="l00476"></a>00476     }
<a name="l00477"></a>00477 
<a name="l00478"></a>00478     <span class="comment">// Fire the PWM's up</span>
<a name="l00479"></a>00479     sc-&gt;duty = 1023;
<a name="l00480"></a>00480 
<a name="l00481"></a>00481     <span class="keywordtype">int</span> pwm = index * 2;
<a name="l00482"></a>00482     <a class="code" href="group___pwm.html#g87d5172375c765fb58fe9c8e160b9314" title="Set the duty of a PWM device.">Pwm_Set</a>( pwm, sc-&gt;duty );
<a name="l00483"></a>00483     <a class="code" href="group___pwm.html#g87d5172375c765fb58fe9c8e160b9314" title="Set the duty of a PWM device.">Pwm_Set</a>( pwm + 1, sc-&gt;duty );
<a name="l00484"></a>00484 
<a name="l00485"></a>00485     <span class="comment">// Get IO's</span>
<a name="l00486"></a>00486     <span class="keywordtype">int</span> i;
<a name="l00487"></a>00487     <span class="keywordflow">for</span> ( i = 0; i &lt; 4; i++ )
<a name="l00488"></a>00488     {
<a name="l00489"></a>00489       <span class="keywordtype">int</span> io = Stepper_GetIo( index, i );      
<a name="l00490"></a>00490       sc-&gt;io[ i ] = io;
<a name="l00491"></a>00491         
<a name="l00492"></a>00492       <span class="comment">// Try to lock the stepper output</span>
<a name="l00493"></a>00493       status = Io_Start( io, <span class="keyword">true</span> );
<a name="l00494"></a>00494       <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00495"></a>00495       {
<a name="l00496"></a>00496         <span class="comment">// Damn - unlock any that we did get</span>
<a name="l00497"></a>00497         <span class="keywordtype">int</span> j;
<a name="l00498"></a>00498         <span class="keywordflow">for</span> ( j = 0; j &lt; i; j++ )
<a name="l00499"></a>00499           Io_Stop( sc-&gt;io[ j ] );
<a name="l00500"></a>00500 
<a name="l00501"></a>00501         Pwm_Stop( pwm );
<a name="l00502"></a>00502         Pwm_Stop( pwm + 1 );
<a name="l00503"></a>00503 
<a name="l00504"></a>00504         Stepper-&gt;users--;
<a name="l00505"></a>00505         sc-&gt;users--;
<a name="l00506"></a>00506         <span class="keywordflow">return</span> status;
<a name="l00507"></a>00507       }
<a name="l00508"></a>00508       Io_PioEnable( io );
<a name="l00509"></a>00509       Io_SetTrue( io );
<a name="l00510"></a>00510       Io_SetOutput( io );
<a name="l00511"></a>00511     }
<a name="l00512"></a>00512 
<a name="l00513"></a>00513     DisableFIQFromThumb();
<a name="l00514"></a>00514     sc-&gt;position = 0;
<a name="l00515"></a>00515     sc-&gt;positionRequested = 0;
<a name="l00516"></a>00516     sc-&gt;speed = 10;
<a name="l00517"></a>00517     sc-&gt;timerRunning = 0;
<a name="l00518"></a>00518     sc-&gt;halfStep = <span class="keyword">false</span>;
<a name="l00519"></a>00519     sc-&gt;bipolar = <span class="keyword">true</span>;
<a name="l00520"></a>00520     EnableFIQFromThumb();
<a name="l00521"></a>00521 
<a name="l00522"></a>00522     <a class="code" href="group___fast_timer.html#g7fbd4c8b28335479fb66673a64159336" title="Initializes a fast timer entry structure.">FastTimer_InitializeEntry</a>( &amp;sc-&gt;fastTimerEntry, Stepper_IRQCallback, index, sc-&gt;speed * 1000, <span class="keyword">true</span> );
<a name="l00523"></a>00523     Stepper-&gt;users++;
<a name="l00524"></a>00524   }
<a name="l00525"></a>00525 
<a name="l00526"></a>00526   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00527"></a>00527 }
<a name="l00528"></a>00528 
<a name="l00529"></a>00529 <span class="keywordtype">int</span> Stepper_Stop( <span class="keywordtype">int</span> index )
<a name="l00530"></a>00530 {
<a name="l00531"></a>00531   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= STEPPER_COUNT || Stepper == NULL )
<a name="l00532"></a>00532     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00533"></a>00533 
<a name="l00534"></a>00534   <span class="keywordflow">if</span>( Stepper-&gt;control[ index ] == NULL )
<a name="l00535"></a>00535     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00536"></a>00536 
<a name="l00537"></a>00537   StepperControl* s = Stepper-&gt;control[ index ]; 
<a name="l00538"></a>00538 
<a name="l00539"></a>00539   <span class="keywordflow">if</span> ( s-&gt;users &lt;= 0 )
<a name="l00540"></a>00540     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gbe5b0c7c2a59668cdeb433375f091c2a" title="This resource has already been stopped too many times.">CONTROLLER_ERROR_TOO_MANY_STOPS</a>;
<a name="l00541"></a>00541 
<a name="l00542"></a>00542   <span class="keywordflow">if</span> ( --s-&gt;users == 0 )
<a name="l00543"></a>00543   {
<a name="l00544"></a>00544     <span class="keywordflow">if</span> ( s-&gt;timerRunning )
<a name="l00545"></a>00545     {
<a name="l00546"></a>00546       DisableFIQFromThumb();
<a name="l00547"></a>00547       <a class="code" href="group___fast_timer.html#gd722adc5f81948844c6e853e40910300" title="Stops the requested fast timer entry from running.">FastTimer_Cancel</a>( &amp;s-&gt;fastTimerEntry );
<a name="l00548"></a>00548       EnableFIQFromThumb();
<a name="l00549"></a>00549     }
<a name="l00550"></a>00550 
<a name="l00551"></a>00551     <span class="keywordtype">int</span> i;
<a name="l00552"></a>00552     <span class="keywordflow">for</span> ( i = 0; i &lt; 4; i++ )
<a name="l00553"></a>00553     {
<a name="l00554"></a>00554       <span class="keywordtype">int</span> io = s-&gt;io[ i ];
<a name="l00555"></a>00555       Io_SetFalse( io );
<a name="l00556"></a>00556       Io_Stop( io );
<a name="l00557"></a>00557     }
<a name="l00558"></a>00558  
<a name="l00559"></a>00559     <span class="keywordtype">int</span> pwm = index * 2;
<a name="l00560"></a>00560     Pwm_Stop( pwm );
<a name="l00561"></a>00561     Pwm_Stop( pwm + 1 );
<a name="l00562"></a>00562 
<a name="l00563"></a>00563     <a class="code" href="group___utils.html#g6b0be54448d6ce393134400f4b22fa97" title="Free memory from the heap.">Free</a>( s );
<a name="l00564"></a>00564     s = NULL;
<a name="l00565"></a>00565 
<a name="l00566"></a>00566     <span class="keywordflow">if</span> ( --Stepper-&gt;users == 0 )
<a name="l00567"></a>00567     {
<a name="l00568"></a>00568       <a class="code" href="group___utils.html#g6b0be54448d6ce393134400f4b22fa97" title="Free memory from the heap.">Free</a>( Stepper );
<a name="l00569"></a>00569       Stepper = NULL;
<a name="l00570"></a>00570     }
<a name="l00571"></a>00571   }
<a name="l00572"></a>00572 
<a name="l00573"></a>00573   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00574"></a>00574 }
<a name="l00575"></a>00575 
<a name="l00576"></a>00576 
<a name="l00577"></a>00577 <span class="keywordtype">int</span> Stepper_GetIo( <span class="keywordtype">int</span> stepperIndex, <span class="keywordtype">int</span> ioIndex )
<a name="l00578"></a>00578 {
<a name="l00579"></a>00579   <span class="keywordtype">int</span> io = -1;
<a name="l00580"></a>00580   <span class="keywordflow">switch</span> ( stepperIndex )
<a name="l00581"></a>00581   {
<a name="l00582"></a>00582     <span class="keywordflow">case</span> 0:
<a name="l00583"></a>00583       <span class="keywordflow">switch</span> ( ioIndex )
<a name="l00584"></a>00584       {
<a name="l00585"></a>00585         <span class="keywordflow">case</span> 0:
<a name="l00586"></a>00586           io = STEPPER_0_IO_0;
<a name="l00587"></a>00587           <span class="keywordflow">break</span>;
<a name="l00588"></a>00588         <span class="keywordflow">case</span> 1:
<a name="l00589"></a>00589           io = STEPPER_0_IO_1;
<a name="l00590"></a>00590           <span class="keywordflow">break</span>;
<a name="l00591"></a>00591         <span class="keywordflow">case</span> 2:
<a name="l00592"></a>00592           io = STEPPER_0_IO_2;
<a name="l00593"></a>00593           <span class="keywordflow">break</span>;
<a name="l00594"></a>00594         <span class="keywordflow">case</span> 3:
<a name="l00595"></a>00595           io = STEPPER_0_IO_3;
<a name="l00596"></a>00596           <span class="keywordflow">break</span>;
<a name="l00597"></a>00597       }
<a name="l00598"></a>00598       <span class="keywordflow">break</span>;
<a name="l00599"></a>00599     <span class="keywordflow">case</span> 1:
<a name="l00600"></a>00600       <span class="keywordflow">switch</span> ( ioIndex )
<a name="l00601"></a>00601       {
<a name="l00602"></a>00602         <span class="keywordflow">case</span> 0:
<a name="l00603"></a>00603           io = STEPPER_1_IO_0;
<a name="l00604"></a>00604           <span class="keywordflow">break</span>;
<a name="l00605"></a>00605         <span class="keywordflow">case</span> 1:
<a name="l00606"></a>00606           io = STEPPER_1_IO_1;
<a name="l00607"></a>00607           <span class="keywordflow">break</span>;
<a name="l00608"></a>00608         <span class="keywordflow">case</span> 2:
<a name="l00609"></a>00609           io = STEPPER_1_IO_2;
<a name="l00610"></a>00610           <span class="keywordflow">break</span>;
<a name="l00611"></a>00611         <span class="keywordflow">case</span> 3:
<a name="l00612"></a>00612           io = STEPPER_1_IO_3;
<a name="l00613"></a>00613           <span class="keywordflow">break</span>;
<a name="l00614"></a>00614       }
<a name="l00615"></a>00615       <span class="keywordflow">break</span>;
<a name="l00616"></a>00616   }
<a name="l00617"></a>00617   <span class="keywordflow">return</span> io;
<a name="l00618"></a>00618 }
<a name="l00619"></a>00619 
<a name="l00620"></a>00620 <span class="keywordtype">int</span> Stepper_Init()
<a name="l00621"></a>00621 {
<a name="l00622"></a>00622   <span class="keywordflow">if</span>( Stepper == NULL )
<a name="l00623"></a>00623   {
<a name="l00624"></a>00624     Stepper = <a class="code" href="group___utils.html#g95923aa748602fa0330903fca05ca892" title="Same as Malloc, but keeps trying until it succeeds.">MallocWait</a>( <span class="keyword">sizeof</span>( Stepper_ ), 100 );
<a name="l00625"></a>00625     Stepper-&gt;users = 0;
<a name="l00626"></a>00626     <span class="keywordtype">int</span> i;
<a name="l00627"></a>00627     <span class="keywordflow">for</span>( i = 0; i &lt; STEPPER_COUNT; i++ )
<a name="l00628"></a>00628       Stepper-&gt;control[ i ] = NULL;
<a name="l00629"></a>00629   }
<a name="l00630"></a>00630   <span class="comment">// otherwise, we're all set.</span>
<a name="l00631"></a>00631   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00632"></a>00632 }
<a name="l00633"></a>00633 
<a name="l00634"></a>00634 <span class="keywordtype">void</span> Stepper_IRQCallback( <span class="keywordtype">int</span> <span class="keywordtype">id</span> )
<a name="l00635"></a>00635 {
<a name="l00636"></a>00636   StepperControl* s = Stepper-&gt;control[ id ]; 
<a name="l00637"></a>00637 
<a name="l00638"></a>00638   <span class="keywordflow">if</span> ( s-&gt;position &lt; s-&gt;positionRequested )
<a name="l00639"></a>00639     s-&gt;position++;
<a name="l00640"></a>00640   <span class="keywordflow">if</span> ( s-&gt;position &gt; s-&gt;positionRequested )
<a name="l00641"></a>00641     s-&gt;position--;
<a name="l00642"></a>00642 
<a name="l00643"></a>00643   <span class="keywordflow">if</span> ( s-&gt;bipolar )
<a name="l00644"></a>00644   {
<a name="l00645"></a>00645     <span class="keywordflow">if</span> ( s-&gt;halfStep )
<a name="l00646"></a>00646       Stepper_SetBipolarHalfStepOutput( s, s-&gt;position );
<a name="l00647"></a>00647     <span class="keywordflow">else</span>
<a name="l00648"></a>00648       Stepper_SetBipolarOutput( s, s-&gt;position );
<a name="l00649"></a>00649   }
<a name="l00650"></a>00650   <span class="keywordflow">else</span>
<a name="l00651"></a>00651   {
<a name="l00652"></a>00652     <span class="keywordflow">if</span> ( s-&gt;halfStep ) 
<a name="l00653"></a>00653       Stepper_SetUnipolarHalfStepOutput( s, s-&gt;position );
<a name="l00654"></a>00654     <span class="keywordflow">else</span>
<a name="l00655"></a>00655       Stepper_SetUnipolarOutput( s, s-&gt;position );
<a name="l00656"></a>00656   }
<a name="l00657"></a>00657 
<a name="l00658"></a>00658   <span class="keywordflow">if</span> ( s-&gt;position == s-&gt;positionRequested )
<a name="l00659"></a>00659   {
<a name="l00660"></a>00660     <a class="code" href="group___fast_timer.html#gd722adc5f81948844c6e853e40910300" title="Stops the requested fast timer entry from running.">FastTimer_Cancel</a>( &amp;s-&gt;fastTimerEntry );
<a name="l00661"></a>00661     s-&gt;timerRunning = <span class="keyword">false</span>;
<a name="l00662"></a>00662   }
<a name="l00663"></a>00663 }
<a name="l00664"></a>00664 
<a name="l00665"></a>00665 <span class="keywordtype">void</span> Stepper_SetDetails( StepperControl* s )
<a name="l00666"></a>00666 {
<a name="l00667"></a>00667   <span class="keywordflow">if</span> ( !s-&gt;timerRunning &amp;&amp; ( s-&gt;position != s-&gt;positionRequested ) &amp;&amp; ( s-&gt;speed != 0 ) )
<a name="l00668"></a>00668   {
<a name="l00669"></a>00669     s-&gt;timerRunning = <span class="keyword">true</span>;
<a name="l00670"></a>00670     DisableFIQFromThumb();
<a name="l00671"></a>00671     <a class="code" href="group___fast_timer.html#gf20a5ff8dabaf78362d54e806df9a900" title="Sets the requested entry to run.">FastTimer_Set</a>( &amp;s-&gt;fastTimerEntry );
<a name="l00672"></a>00672     EnableFIQFromThumb();
<a name="l00673"></a>00673   }
<a name="l00674"></a>00674   <span class="keywordflow">else</span>
<a name="l00675"></a>00675   {
<a name="l00676"></a>00676     <span class="keywordflow">if</span> ( ( s-&gt;timerRunning ) &amp;&amp; ( ( s-&gt;position == s-&gt;positionRequested ) || ( s-&gt;speed == 0 ) ) )
<a name="l00677"></a>00677     {
<a name="l00678"></a>00678       DisableFIQFromThumb();
<a name="l00679"></a>00679       <a class="code" href="group___fast_timer.html#gd722adc5f81948844c6e853e40910300" title="Stops the requested fast timer entry from running.">FastTimer_Cancel</a>( &amp;s-&gt;fastTimerEntry );
<a name="l00680"></a>00680       EnableFIQFromThumb();
<a name="l00681"></a>00681       s-&gt;timerRunning = <span class="keyword">false</span>;
<a name="l00682"></a>00682     }
<a name="l00683"></a>00683   }
<a name="l00684"></a>00684 }
<a name="l00685"></a>00685 
<a name="l00686"></a>00686 <span class="keywordtype">void</span> Stepper_SetUnipolarHalfStepOutput( StepperControl *s, <span class="keywordtype">int</span> position )
<a name="l00687"></a>00687 {
<a name="l00688"></a>00688   <span class="keywordtype">int</span> output = position % 8;
<a name="l00689"></a>00689 
<a name="l00690"></a>00690   <span class="keywordtype">int</span>* iop = s-&gt;io;
<a name="l00691"></a>00691 
<a name="l00692"></a>00692   <span class="keywordtype">int</span> portAOn = 0;
<a name="l00693"></a>00693   <span class="keywordtype">int</span> portBOn = 0;
<a name="l00694"></a>00694   <span class="keywordtype">int</span> portAOff = 0;
<a name="l00695"></a>00695   <span class="keywordtype">int</span> portBOff = 0;
<a name="l00696"></a>00696 
<a name="l00697"></a>00697   <span class="keywordflow">switch</span> ( output )
<a name="l00698"></a>00698   {
<a name="l00699"></a>00699     <span class="keywordflow">case</span> -1:
<a name="l00700"></a>00700       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00701"></a>00701       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00702"></a>00702       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00703"></a>00703       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00704"></a>00704       <span class="keywordflow">break</span>;
<a name="l00705"></a>00705     <span class="keywordflow">case</span> 0:
<a name="l00706"></a>00706       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00707"></a>00707       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00708"></a>00708       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00709"></a>00709       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00710"></a>00710       <span class="keywordflow">break</span>;
<a name="l00711"></a>00711     <span class="keywordflow">case</span> 1:
<a name="l00712"></a>00712       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00713"></a>00713       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00714"></a>00714       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00715"></a>00715       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00716"></a>00716       <span class="keywordflow">break</span>;
<a name="l00717"></a>00717     <span class="keywordflow">case</span> 2:
<a name="l00718"></a>00718       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00719"></a>00719       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00720"></a>00720       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00721"></a>00721       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00722"></a>00722       <span class="keywordflow">break</span>;
<a name="l00723"></a>00723     <span class="keywordflow">case</span> 3:
<a name="l00724"></a>00724       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00725"></a>00725       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00726"></a>00726       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00727"></a>00727       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00728"></a>00728       <span class="keywordflow">break</span>;
<a name="l00729"></a>00729     <span class="keywordflow">case</span> 4:
<a name="l00730"></a>00730       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00731"></a>00731       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00732"></a>00732       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00733"></a>00733       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00734"></a>00734       <span class="keywordflow">break</span>;
<a name="l00735"></a>00735     <span class="keywordflow">case</span> 5:
<a name="l00736"></a>00736       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00737"></a>00737       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );      
<a name="l00738"></a>00738       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00739"></a>00739       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00740"></a>00740       <span class="keywordflow">break</span>;
<a name="l00741"></a>00741     <span class="keywordflow">case</span> 6:
<a name="l00742"></a>00742       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00743"></a>00743       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );      
<a name="l00744"></a>00744       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );      
<a name="l00745"></a>00745       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00746"></a>00746       <span class="keywordflow">break</span>;
<a name="l00747"></a>00747     <span class="keywordflow">case</span> 7:
<a name="l00748"></a>00748       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00749"></a>00749       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );      
<a name="l00750"></a>00750       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );      
<a name="l00751"></a>00751       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00752"></a>00752       <span class="keywordflow">break</span>;
<a name="l00753"></a>00753   }  
<a name="l00754"></a>00754 
<a name="l00755"></a>00755   Stepper_SetAll( portAOn, portBOn, portAOff, portBOff );
<a name="l00756"></a>00756 }
<a name="l00757"></a>00757 
<a name="l00758"></a>00758 <span class="keywordtype">void</span> Stepper_SetUnipolarOutput( StepperControl *s, <span class="keywordtype">int</span> position )
<a name="l00759"></a>00759 {
<a name="l00760"></a>00760   <span class="keywordtype">int</span> output = position % 4;
<a name="l00761"></a>00761   <span class="keywordtype">int</span>* iop = s-&gt;io;
<a name="l00762"></a>00762 
<a name="l00763"></a>00763   <span class="keywordtype">int</span> portAOn = 0;
<a name="l00764"></a>00764   <span class="keywordtype">int</span> portBOn = 0;
<a name="l00765"></a>00765   <span class="keywordtype">int</span> portAOff = 0;
<a name="l00766"></a>00766   <span class="keywordtype">int</span> portBOff = 0;
<a name="l00767"></a>00767 
<a name="l00768"></a>00768   <span class="keywordflow">switch</span> ( output )
<a name="l00769"></a>00769   {
<a name="l00770"></a>00770     <span class="keywordflow">case</span> -1:
<a name="l00771"></a>00771       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00772"></a>00772       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00773"></a>00773       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00774"></a>00774       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00775"></a>00775       <span class="keywordflow">break</span>;
<a name="l00776"></a>00776     <span class="keywordflow">case</span> 0:
<a name="l00777"></a>00777       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00778"></a>00778       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00779"></a>00779       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00780"></a>00780       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00781"></a>00781       <span class="keywordflow">break</span>;
<a name="l00782"></a>00782     <span class="keywordflow">case</span> 1:
<a name="l00783"></a>00783       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00784"></a>00784       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00785"></a>00785       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00786"></a>00786       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00787"></a>00787       <span class="keywordflow">break</span>;
<a name="l00788"></a>00788     <span class="keywordflow">case</span> 2:
<a name="l00789"></a>00789       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00790"></a>00790       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00791"></a>00791       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00792"></a>00792       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00793"></a>00793       <span class="keywordflow">break</span>;
<a name="l00794"></a>00794     <span class="keywordflow">case</span> 3:
<a name="l00795"></a>00795       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00796"></a>00796       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00797"></a>00797       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00798"></a>00798       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00799"></a>00799       <span class="keywordflow">break</span>;
<a name="l00800"></a>00800   }  
<a name="l00801"></a>00801   Stepper_SetAll( portAOn, portBOn, portAOff, portBOff );
<a name="l00802"></a>00802 }
<a name="l00803"></a>00803 
<a name="l00804"></a>00804 <span class="keywordtype">void</span> Stepper_SetBipolarHalfStepOutput( StepperControl *s, <span class="keywordtype">int</span> position )
<a name="l00805"></a>00805 {
<a name="l00806"></a>00806   <span class="keywordtype">int</span> output = position % 8;
<a name="l00807"></a>00807 
<a name="l00808"></a>00808   <span class="keywordtype">int</span>* iop = s-&gt;io;
<a name="l00809"></a>00809 
<a name="l00810"></a>00810   <span class="keywordtype">int</span> portAOn = 0;
<a name="l00811"></a>00811   <span class="keywordtype">int</span> portBOn = 0;
<a name="l00812"></a>00812   <span class="keywordtype">int</span> portAOff = 0;
<a name="l00813"></a>00813   <span class="keywordtype">int</span> portBOff = 0;
<a name="l00814"></a>00814 
<a name="l00815"></a>00815   <span class="keywordflow">switch</span> ( output )
<a name="l00816"></a>00816   {
<a name="l00817"></a>00817     <span class="keywordflow">case</span> -1:
<a name="l00818"></a>00818       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00819"></a>00819       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00820"></a>00820       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00821"></a>00821       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00822"></a>00822       <span class="keywordflow">break</span>;
<a name="l00823"></a>00823     <span class="keywordflow">case</span> 0:
<a name="l00824"></a>00824       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00825"></a>00825       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00826"></a>00826       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00827"></a>00827       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00828"></a>00828       <span class="keywordflow">break</span>;
<a name="l00829"></a>00829     <span class="keywordflow">case</span> 1:
<a name="l00830"></a>00830       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00831"></a>00831       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00832"></a>00832       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00833"></a>00833       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00834"></a>00834       <span class="keywordflow">break</span>;
<a name="l00835"></a>00835     <span class="keywordflow">case</span> 2:
<a name="l00836"></a>00836       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00837"></a>00837       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00838"></a>00838       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00839"></a>00839       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00840"></a>00840       <span class="keywordflow">break</span>;
<a name="l00841"></a>00841     <span class="keywordflow">case</span> 3:
<a name="l00842"></a>00842       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00843"></a>00843       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00844"></a>00844       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00845"></a>00845       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00846"></a>00846       <span class="keywordflow">break</span>;
<a name="l00847"></a>00847     <span class="keywordflow">case</span> 4:
<a name="l00848"></a>00848       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00849"></a>00849       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00850"></a>00850       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00851"></a>00851       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00852"></a>00852       <span class="keywordflow">break</span>;
<a name="l00853"></a>00853     <span class="keywordflow">case</span> 5:
<a name="l00854"></a>00854       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00855"></a>00855       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00856"></a>00856       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00857"></a>00857       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00858"></a>00858       <span class="keywordflow">break</span>;
<a name="l00859"></a>00859     <span class="keywordflow">case</span> 6:
<a name="l00860"></a>00860       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00861"></a>00861       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00862"></a>00862       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00863"></a>00863       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00864"></a>00864       <span class="keywordflow">break</span>;
<a name="l00865"></a>00865     <span class="keywordflow">case</span> 7:
<a name="l00866"></a>00866       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00867"></a>00867       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );      
<a name="l00868"></a>00868       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );      
<a name="l00869"></a>00869       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00870"></a>00870       <span class="keywordflow">break</span>;
<a name="l00871"></a>00871   }  
<a name="l00872"></a>00872 
<a name="l00873"></a>00873   Stepper_SetAll( portAOn, portBOn, portAOff, portBOff );
<a name="l00874"></a>00874 }
<a name="l00875"></a>00875 
<a name="l00876"></a>00876 <span class="keywordtype">void</span> Stepper_SetBipolarOutput( StepperControl *s, <span class="keywordtype">int</span> position )
<a name="l00877"></a>00877 {
<a name="l00878"></a>00878   <span class="keywordtype">int</span> output = position % 4;
<a name="l00879"></a>00879   <span class="keywordtype">int</span>* iop = s-&gt;io;
<a name="l00880"></a>00880 
<a name="l00881"></a>00881   <span class="keywordtype">int</span> portAOn = 0;
<a name="l00882"></a>00882   <span class="keywordtype">int</span> portBOn = 0;
<a name="l00883"></a>00883   <span class="keywordtype">int</span> portAOff = 0;
<a name="l00884"></a>00884   <span class="keywordtype">int</span> portBOff = 0;
<a name="l00885"></a>00885 
<a name="l00886"></a>00886   <span class="comment">// This may be the least efficient code I have ever written</span>
<a name="l00887"></a>00887   <span class="keywordflow">switch</span> ( output )
<a name="l00888"></a>00888   {
<a name="l00889"></a>00889     <span class="keywordflow">case</span> -1:
<a name="l00890"></a>00890       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00891"></a>00891       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00892"></a>00892       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00893"></a>00893       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00894"></a>00894       <span class="keywordflow">break</span>;
<a name="l00895"></a>00895     <span class="keywordflow">case</span> 0:
<a name="l00896"></a>00896       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00897"></a>00897       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00898"></a>00898       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00899"></a>00899       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00900"></a>00900       <span class="keywordflow">break</span>;
<a name="l00901"></a>00901     <span class="keywordflow">case</span> 1:
<a name="l00902"></a>00902       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00903"></a>00903       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00904"></a>00904       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00905"></a>00905       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00906"></a>00906       <span class="keywordflow">break</span>;
<a name="l00907"></a>00907     <span class="keywordflow">case</span> 2:
<a name="l00908"></a>00908       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00909"></a>00909       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00910"></a>00910       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00911"></a>00911       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00912"></a>00912       <span class="keywordflow">break</span>;
<a name="l00913"></a>00913     <span class="keywordflow">case</span> 3:
<a name="l00914"></a>00914       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00915"></a>00915       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00916"></a>00916       Stepper_SetOff( *iop++, &amp;portAOff, &amp;portBOff );
<a name="l00917"></a>00917       Stepper_SetOn( *iop++, &amp;portAOn, &amp;portBOn );
<a name="l00918"></a>00918       <span class="keywordflow">break</span>;
<a name="l00919"></a>00919   }  
<a name="l00920"></a>00920   Stepper_SetAll( portAOn, portBOn, portAOff, portBOff );
<a name="l00921"></a>00921 }
<a name="l00922"></a>00922 
<a name="l00923"></a>00923 <span class="keywordtype">void</span> Stepper_SetOn( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span>* portAOn, <span class="keywordtype">int</span>* portBOn )
<a name="l00924"></a>00924 {
<a name="l00925"></a>00925   <span class="keywordtype">int</span> mask = 1 &lt;&lt; ( index &amp; 0x1F );
<a name="l00926"></a>00926   <span class="keywordflow">if</span> ( index &lt; 32 )
<a name="l00927"></a>00927     *portAOn |= mask;
<a name="l00928"></a>00928   <span class="keywordflow">else</span>
<a name="l00929"></a>00929     *portBOn |= mask;
<a name="l00930"></a>00930 }
<a name="l00931"></a>00931 
<a name="l00932"></a>00932 <span class="keywordtype">void</span> Stepper_SetOff( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span>* portAOff, <span class="keywordtype">int</span>* portBOff )
<a name="l00933"></a>00933 {
<a name="l00934"></a>00934   <span class="keywordtype">int</span> mask = 1 &lt;&lt; ( index &amp; 0x1F );
<a name="l00935"></a>00935   <span class="keywordflow">if</span> ( index &lt; 32 )
<a name="l00936"></a>00936     *portAOff |= mask;
<a name="l00937"></a>00937   <span class="keywordflow">else</span>
<a name="l00938"></a>00938     *portBOff |= mask;
<a name="l00939"></a>00939 }
<a name="l00940"></a>00940 
<a name="l00941"></a>00941 <span class="keywordtype">void</span> Stepper_SetAll( <span class="keywordtype">int</span> portAOn, <span class="keywordtype">int</span> portBOn, <span class="keywordtype">int</span> portAOff, <span class="keywordtype">int</span> portBOff )
<a name="l00942"></a>00942 {
<a name="l00943"></a>00943   AT91C_BASE_PIOA-&gt;PIO_SODR = portAOn;
<a name="l00944"></a>00944   AT91C_BASE_PIOB-&gt;PIO_SODR = portBOn;
<a name="l00945"></a>00945   AT91C_BASE_PIOA-&gt;PIO_CODR = portAOff;
<a name="l00946"></a>00946   AT91C_BASE_PIOB-&gt;PIO_CODR = portBOff;
<a name="l00947"></a>00947 }
<a name="l00948"></a>00948 
<a name="l00949"></a>00949 <span class="preprocessor">#ifdef OSC // defined in config.h</span>
<a name="l00950"></a>00950 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00951"></a>00951 <span class="comment">/** \defgroup StepperOSC Stepper - OSC</span>
<a name="l00952"></a>00952 <span class="comment">  \ingroup OSC</span>
<a name="l00953"></a>00953 <span class="comment">  Control Stepper motors with the Application Board via OSC.</span>
<a name="l00954"></a>00954 <span class="comment">  Specify settings for your stepper motor by setting whether it's:</span>
<a name="l00955"></a>00955 <span class="comment">  - bipolar or unipolar</span>
<a name="l00956"></a>00956 <span class="comment">  - normal of half-stepping</span>
<a name="l00957"></a>00957 <span class="comment"></span>
<a name="l00958"></a>00958 <span class="comment">  You can generally use the stepper motor in 2 modes - \b absolute positioning or \b relative positioning.</span>
<a name="l00959"></a>00959 <span class="comment"></span>
<a name="l00960"></a>00960 <span class="comment">  For absolute positioning, set \b positionrequested with the desired position, and the motor will move there.</span>
<a name="l00961"></a>00961 <span class="comment">  You can read back the stepper's \b position property at any point along the way to determine where it is at a given moment.  The board</span>
<a name="l00962"></a>00962 <span class="comment">  keeps an internal count of how many steps the motor has taken in order to keep track of where it is.</span>
<a name="l00963"></a>00963 <span class="comment"></span>
<a name="l00964"></a>00964 <span class="comment">  For relative positioning, use the \b step property to simply move a number of steps from the current position.</span>
<a name="l00965"></a>00965 <span class="comment">  </span>
<a name="l00966"></a>00966 <span class="comment">  \section devices Devices</span>
<a name="l00967"></a>00967 <span class="comment">  There are 2 Stepper controllers available on the Application Board, numbered 0 &amp; 1.</span>
<a name="l00968"></a>00968 <span class="comment">  See the Stepper section in the Application Board user's guide for more information</span>
<a name="l00969"></a>00969 <span class="comment">  on hooking steppers up to the board.</span>
<a name="l00970"></a>00970 <span class="comment">  </span>
<a name="l00971"></a>00971 <span class="comment">  \section properties Properties</span>
<a name="l00972"></a>00972 <span class="comment">  Each stepper controller has eight properties:</span>
<a name="l00973"></a>00973 <span class="comment">  - position</span>
<a name="l00974"></a>00974 <span class="comment">  - positionrequested</span>
<a name="l00975"></a>00975 <span class="comment">  - speed</span>
<a name="l00976"></a>00976 <span class="comment">  - duty</span>
<a name="l00977"></a>00977 <span class="comment">  - bipolar</span>
<a name="l00978"></a>00978 <span class="comment">  - halfstep</span>
<a name="l00979"></a>00979 <span class="comment">  - step</span>
<a name="l00980"></a>00980 <span class="comment">  - active</span>
<a name="l00981"></a>00981 <span class="comment"></span>
<a name="l00982"></a>00982 <span class="comment">  \par Step</span>
<a name="l00983"></a>00983 <span class="comment">  The \b step property simply tells the motor to take a certain number of steps.</span>
<a name="l00984"></a>00984 <span class="comment">  This is a write-only value.</span>
<a name="l00985"></a>00985 <span class="comment">  \par</span>
<a name="l00986"></a>00986 <span class="comment">  To take 1000 steps with the first stepper, send the message</span>
<a name="l00987"></a>00987 <span class="comment">  \verbatim /stepper/0/step 1000\endverbatim</span>
<a name="l00988"></a>00988 <span class="comment">  </span>
<a name="l00989"></a>00989 <span class="comment">  \par Position</span>
<a name="l00990"></a>00990 <span class="comment">  The \b position property corresponds to the current step position of the stepper motor</span>
<a name="l00991"></a>00991 <span class="comment">  This value can be both read and written.  Writing this value changes where the motor thinks it is.</span>
<a name="l00992"></a>00992 <span class="comment">  The initial value of this parameter is 0.</span>
<a name="l00993"></a>00993 <span class="comment">  \par</span>
<a name="l00994"></a>00994 <span class="comment">  To set the first stepper to step position 10000, send the message</span>
<a name="l00995"></a>00995 <span class="comment">  \verbatim /stepper/0/position 10000\endverbatim</span>
<a name="l00996"></a>00996 <span class="comment">  Leave the argument value off to read the position of the stepper:</span>
<a name="l00997"></a>00997 <span class="comment">  \verbatim /stepper/0/position \endverbatim</span>
<a name="l00998"></a>00998 <span class="comment"></span>
<a name="l00999"></a>00999 <span class="comment">  \par PositionRequested</span>
<a name="l01000"></a>01000 <span class="comment">  The \b positionrequested property describes the desired step position of the stepper motor</span>
<a name="l01001"></a>01001 <span class="comment">  This value can be both read and written.  Writing this value changes the motor's destination.</span>
<a name="l01002"></a>01002 <span class="comment">  \par</span>
<a name="l01003"></a>01003 <span class="comment">  To set the first stepper to go to position 10000, send the message</span>
<a name="l01004"></a>01004 <span class="comment">  \verbatim /stepper/0/positionrequested 10000\endverbatim</span>
<a name="l01005"></a>01005 <span class="comment">  Leave the argument value off to read the last requested position of the stepper:</span>
<a name="l01006"></a>01006 <span class="comment">  \verbatim /stepper/0/positionrequested \endverbatim</span>
<a name="l01007"></a>01007 <span class="comment"></span>
<a name="l01008"></a>01008 <span class="comment">  \par Speed</span>
<a name="l01009"></a>01009 <span class="comment">  The \b speed property corresponds to the speed with which the stepper responds to changes </span>
<a name="l01010"></a>01010 <span class="comment">  of position.  This value is the number of milliseconds between each step.  So, a speed of one</span>
<a name="l01011"></a>01011 <span class="comment">  would be a step every millisecond, or 1000 steps a second.  </span>
<a name="l01012"></a>01012 <span class="comment">  \par</span>
<a name="l01013"></a>01013 <span class="comment">  Note that not all stepper motors can be stepped quite that fast.  If you find your stepper motor acting strangely, </span>
<a name="l01014"></a>01014 <span class="comment">  experiment with slowing down the speed a bit.</span>
<a name="l01015"></a>01015 <span class="comment">  \par</span>
<a name="l01016"></a>01016 <span class="comment">  To set the speed of the first stepper to step at 100ms per step, send a message like</span>
<a name="l01017"></a>01017 <span class="comment">  \verbatim /stepper/0/speed 100 \endverbatim</span>
<a name="l01018"></a>01018 <span class="comment">  Adjust the argument value to one that suits your application.\n</span>
<a name="l01019"></a>01019 <span class="comment">  Leave the argument value off to read the speed of the stepper:</span>
<a name="l01020"></a>01020 <span class="comment">  \verbatim /stepper/0/speed \endverbatim</span>
<a name="l01021"></a>01021 <span class="comment">  </span>
<a name="l01022"></a>01022 <span class="comment">  \par Duty</span>
<a name="l01023"></a>01023 <span class="comment">  The \b duty property corresponds to the how much of the power supply is to be sent to the</span>
<a name="l01024"></a>01024 <span class="comment">  stepper.  This is handy for when the stepper is static and not being required to perform too</span>
<a name="l01025"></a>01025 <span class="comment">  much work and reducing its power helps reduce heat dissipation.</span>
<a name="l01026"></a>01026 <span class="comment">  This value can be both read and written, and the range of values is 0 - 1023.  A duty of 0</span>
<a name="l01027"></a>01027 <span class="comment">  means the stepper gets no power, and the value of 1023 means the stepper gets full power.  </span>
<a name="l01028"></a>01028 <span class="comment">  \par</span>
<a name="l01029"></a>01029 <span class="comment">  To set the duty of the first stepper to 500, send a message like</span>
<a name="l01030"></a>01030 <span class="comment">  \verbatim /stepper/0/duty 500 \endverbatim</span>
<a name="l01031"></a>01031 <span class="comment">  Adjust the argument value to one that suits your application.\n</span>
<a name="l01032"></a>01032 <span class="comment">  Leave the argument value off to read the duty of the stepper:</span>
<a name="l01033"></a>01033 <span class="comment">  \verbatim /stepper/0/duty \endverbatim</span>
<a name="l01034"></a>01034 <span class="comment"></span>
<a name="l01035"></a>01035 <span class="comment">  \par Bipolar</span>
<a name="l01036"></a>01036 <span class="comment">  The \b bipolar property is set to the style of stepper being used.  A value of 1 specifies bipolar</span>
<a name="l01037"></a>01037 <span class="comment">  (the default) and 0 specifies a unipolar stepper.</span>
<a name="l01038"></a>01038 <span class="comment">  This value can be both read and written.</span>
<a name="l01039"></a>01039 <span class="comment"></span>
<a name="l01040"></a>01040 <span class="comment">  \par HalfStep</span>
<a name="l01041"></a>01041 <span class="comment">  The \b halfstep property controls whether the stepper is being half stepped or not.  A 0 here implies full stepping</span>
<a name="l01042"></a>01042 <span class="comment">  (the default) and 1 implies a half stepping.</span>
<a name="l01043"></a>01043 <span class="comment">  This value can be both read and written.</span>
<a name="l01044"></a>01044 <span class="comment"></span>
<a name="l01045"></a>01045 <span class="comment">  \par Active</span>
<a name="l01046"></a>01046 <span class="comment">  The \b active property corresponds to the active state of the stepper.</span>
<a name="l01047"></a>01047 <span class="comment">  If the stepper is set to be active, no other tasks will be able to</span>
<a name="l01048"></a>01048 <span class="comment">  write to the same I/O lines.  If you're not seeing appropriate</span>
<a name="l01049"></a>01049 <span class="comment">  responses to your messages to a stepper, check the whether it's </span>
<a name="l01050"></a>01050 <span class="comment">  locked by sending a message like</span>
<a name="l01051"></a>01051 <span class="comment">  \verbatim /stepper/1/active \endverbatim</span>
<a name="l01052"></a>01052 <span class="comment">*/</span>
<a name="l01053"></a>01053 
<a name="l01054"></a>01054 <span class="preprocessor">#include "osc.h"</span>
<a name="l01055"></a>01055 <span class="preprocessor">#include "string.h"</span>
<a name="l01056"></a>01056 <span class="preprocessor">#include "stdio.h"</span>
<a name="l01057"></a>01057 
<a name="l01058"></a>01058 <span class="comment">// Need a list of property names</span>
<a name="l01059"></a>01059 <span class="comment">// MUST end in zero</span>
<a name="l01060"></a>01060 <span class="keyword">static</span> <span class="keywordtype">char</span>* StepperOsc_Name = <span class="stringliteral">"stepper"</span>;
<a name="l01061"></a>01061 <span class="keyword">static</span> <span class="keywordtype">char</span>* StepperOsc_PropertyNames[] = { <span class="stringliteral">"active"</span>, <span class="stringliteral">"position"</span>, <span class="stringliteral">"positionrequested"</span>, 
<a name="l01062"></a>01062                                             <span class="stringliteral">"speed"</span>, <span class="stringliteral">"duty"</span>, <span class="stringliteral">"halfstep"</span>, 
<a name="l01063"></a>01063                                             <span class="stringliteral">"bipolar"</span>, <span class="stringliteral">"step"</span>, 0 }; <span class="comment">// must have a trailing 0</span>
<a name="l01064"></a>01064 
<a name="l01065"></a>01065 <span class="keywordtype">int</span> StepperOsc_PropertySet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value );
<a name="l01066"></a>01066 <span class="keywordtype">int</span> StepperOsc_PropertyGet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property );
<a name="l01067"></a>01067 
<a name="l01068"></a>01068 <span class="comment">// Returns the name of the subsystem</span>
<a name="l01069"></a>01069 <span class="keyword">const</span> <span class="keywordtype">char</span>* StepperOsc_GetName( )
<a name="l01070"></a>01070 {
<a name="l01071"></a>01071   <span class="keywordflow">return</span> StepperOsc_Name;
<a name="l01072"></a>01072 }
<a name="l01073"></a>01073 
<a name="l01074"></a>01074 <span class="comment">// Now getting a message.  This is actually a part message, with the first</span>
<a name="l01075"></a>01075 <span class="comment">// part (the subsystem) already parsed off.</span>
<a name="l01076"></a>01076 <span class="keywordtype">int</span> StepperOsc_ReceiveMessage( <span class="keywordtype">int</span> channel, <span class="keywordtype">char</span>* message, <span class="keywordtype">int</span> length )
<a name="l01077"></a>01077 {
<a name="l01078"></a>01078   <span class="keywordtype">int</span> status = <a class="code" href="group___o_s_c_a_p_i.html#gdaa5a3868eeedcf785c3d52f6b36ef34" title="Receive integers for a subsystem with multiple indexes.">Osc_IndexIntReceiverHelper</a>( channel, message, length, 
<a name="l01079"></a>01079                                            STEPPER_COUNT, StepperOsc_Name,
<a name="l01080"></a>01080                                            StepperOsc_PropertySet, StepperOsc_PropertyGet, 
<a name="l01081"></a>01081                                            StepperOsc_PropertyNames );
<a name="l01082"></a>01082 
<a name="l01083"></a>01083   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l01084"></a>01084     <span class="keywordflow">return</span> Osc_SendError( channel, StepperOsc_Name, status );
<a name="l01085"></a>01085   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l01086"></a>01086 }
<a name="l01087"></a>01087 
<a name="l01088"></a>01088 <span class="comment">// Set the index LED, property with the value</span>
<a name="l01089"></a>01089 <span class="keywordtype">int</span> StepperOsc_PropertySet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value )
<a name="l01090"></a>01090 {
<a name="l01091"></a>01091   <span class="keywordflow">switch</span> ( property )
<a name="l01092"></a>01092   {
<a name="l01093"></a>01093     <span class="keywordflow">case</span> 0:
<a name="l01094"></a>01094       <a class="code" href="group___stepper.html#g83de2fe1e21adca834585e4e1e98d536" title="Attempt to set the specified Sets whether the specified Stepper is active.">Stepper_SetActive</a>( index, value );
<a name="l01095"></a>01095       <span class="keywordflow">break</span>;
<a name="l01096"></a>01096     <span class="keywordflow">case</span> 1:
<a name="l01097"></a>01097       <a class="code" href="group___stepper.html#g83dbabc60bf20269330dddda711afe4e" title="Set the position of the specified stepper motor.">Stepper_SetPosition</a>( index, value );
<a name="l01098"></a>01098       <span class="keywordflow">break</span>;
<a name="l01099"></a>01099     <span class="keywordflow">case</span> 2:
<a name="l01100"></a>01100       <a class="code" href="group___stepper.html#g3172137d4ac0546433c2e85d2b4ead68" title="Set the destination position for a stepper motor.">Stepper_SetPositionRequested</a>( index, value );
<a name="l01101"></a>01101       <span class="keywordflow">break</span>;
<a name="l01102"></a>01102     <span class="keywordflow">case</span> 3:
<a name="l01103"></a>01103       <a class="code" href="group___stepper.html#g891becfba02cc46ee2271ac31a1562ab" title="Set the speed at which a stepper will move.">Stepper_SetSpeed</a>( index, value );
<a name="l01104"></a>01104       <span class="keywordflow">break</span>;
<a name="l01105"></a>01105     <span class="keywordflow">case</span> 4:
<a name="l01106"></a>01106       <a class="code" href="group___stepper.html#g4b8735adfa88cfbf0dc4be5561f8e44f" title="Set the duty - from 0 to 1023.">Stepper_SetDuty</a>( index, value );
<a name="l01107"></a>01107       <span class="keywordflow">break</span>;
<a name="l01108"></a>01108     <span class="keywordflow">case</span> 5:
<a name="l01109"></a>01109       <a class="code" href="group___stepper.html#g731a93f003fa86a34cbde312dd1193d7" title="Declare whether the stepper is in half stepping mode or not.">Stepper_SetHalfStep</a>( index, value );
<a name="l01110"></a>01110       <span class="keywordflow">break</span>;
<a name="l01111"></a>01111     <span class="keywordflow">case</span> 6:
<a name="l01112"></a>01112       <a class="code" href="group___stepper.html#geb71bfe520e3eacd08417313ffd7f71e" title="Declare whether the stepper is bipolar or not.">Stepper_SetBipolar</a>( index, value );
<a name="l01113"></a>01113       <span class="keywordflow">break</span>;
<a name="l01114"></a>01114     <span class="keywordflow">case</span> 7: <span class="comment">// step</span>
<a name="l01115"></a>01115       <a class="code" href="group___stepper.html#gb212bd8775ecb72a0d56163fdf613928" title="Simply take a number of steps from wherever the motor is currently positioned.">Stepper_Step</a>( index, value );
<a name="l01116"></a>01116       <span class="keywordflow">break</span>;
<a name="l01117"></a>01117   }
<a name="l01118"></a>01118   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l01119"></a>01119 }
<a name="l01120"></a>01120 
<a name="l01121"></a>01121 <span class="comment">// Get the index LED, property</span>
<a name="l01122"></a>01122 <span class="keywordtype">int</span> StepperOsc_PropertyGet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property )
<a name="l01123"></a>01123 {
<a name="l01124"></a>01124   <span class="keywordtype">int</span> value = 0;
<a name="l01125"></a>01125   <span class="keywordflow">switch</span> ( property )
<a name="l01126"></a>01126   {
<a name="l01127"></a>01127     <span class="keywordflow">case</span> 0:
<a name="l01128"></a>01128       value = <a class="code" href="group___stepper.html#ga65f212117be231d54ff67cb00911e3d" title="Check whether the stepper is active or not.">Stepper_GetActive</a>( index );
<a name="l01129"></a>01129       <span class="keywordflow">break</span>;
<a name="l01130"></a>01130     <span class="keywordflow">case</span> 1:
<a name="l01131"></a>01131       value = <a class="code" href="group___stepper.html#gd041059f1c047e9487ec1184f4f00d84" title="Read the current position of a stepper motor.">Stepper_GetPosition</a>( index );
<a name="l01132"></a>01132       <span class="keywordflow">break</span>;
<a name="l01133"></a>01133     <span class="keywordflow">case</span> 2:
<a name="l01134"></a>01134       value = <a class="code" href="group___stepper.html#gf150638da28e7c58bc09c0cf1b6f3791" title="Read the destination position of a stepper motor.">Stepper_GetPositionRequested</a>( index );
<a name="l01135"></a>01135       <span class="keywordflow">break</span>;
<a name="l01136"></a>01136     <span class="keywordflow">case</span> 3:
<a name="l01137"></a>01137       value = <a class="code" href="group___stepper.html#g174186367248f68a9a33228625577cf5" title="Get the speed at which a stepper will move.">Stepper_GetSpeed</a>( index );
<a name="l01138"></a>01138       <span class="keywordflow">break</span>;
<a name="l01139"></a>01139     <span class="keywordflow">case</span> 4:
<a name="l01140"></a>01140       value = <a class="code" href="group___stepper.html#gaf6cb1e49032eed0e16db704ac02396b" title="Get the duty Read the value previously set for the duty.">Stepper_GetDuty</a>( index );
<a name="l01141"></a>01141       <span class="keywordflow">break</span>;
<a name="l01142"></a>01142     <span class="keywordflow">case</span> 5:
<a name="l01143"></a>01143       value = <a class="code" href="group___stepper.html#ga5ef21727e1a4bb101aa378c4782e7df" title="Read whether the stepper is in half stepping mode or not.">Stepper_GetHalfStep</a>( index );
<a name="l01144"></a>01144       <span class="keywordflow">break</span>;
<a name="l01145"></a>01145     <span class="keywordflow">case</span> 6:
<a name="l01146"></a>01146       value = <a class="code" href="group___stepper.html#g43c21812439f70eea1e0cf7fb7f8649c" title="Get the bipolar setting Read the value previously set for bipolar.">Stepper_GetBipolar</a>( index );
<a name="l01147"></a>01147       <span class="keywordflow">break</span>;
<a name="l01148"></a>01148     <span class="keywordflow">case</span> 7: <span class="comment">// step</span>
<a name="l01149"></a>01149       value = <a class="code" href="group___stepper.html#g2670d5168bc4403656d3bb65c05ddf37" title="Not implemented - returns 0.">Stepper_GetStep</a>( index );
<a name="l01150"></a>01150       <span class="keywordflow">break</span>;
<a name="l01151"></a>01151   }
<a name="l01152"></a>01152   <span class="keywordflow">return</span> value;
<a name="l01153"></a>01153 }
<a name="l01154"></a>01154 
<a name="l01155"></a>01155 <span class="preprocessor">#endif</span>
<a name="l01156"></a>01156 <span class="preprocessor"></span>
<a name="l01157"></a>01157 
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  <p class="footer">The Make Controller Kit is an open source project maintained by <a href="http://www.makingthings.com">MakingThings</a>.<br />
    MakingThings code is released under the <a href="http://www.apache.org/licenses/LICENSE-2.0.html" target="_blank">Apache 2.0 license</a>.<br />
    Bug tracker, development wiki and status can be found at <a href="http://dev.makingthings.com">http://dev.makingthings.com</a>.<br />
		This document was last updated on 5 Dec 2007.
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